US7903842B2 - Target position setting device and parking assist device with the same - Google Patents

Target position setting device and parking assist device with the same Download PDF

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Publication number
US7903842B2
US7903842B2 US11/663,065 US66306506A US7903842B2 US 7903842 B2 US7903842 B2 US 7903842B2 US 66306506 A US66306506 A US 66306506A US 7903842 B2 US7903842 B2 US 7903842B2
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target position
candidate
vehicle
distance
imager
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US20090123028A1 (en
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Hisashi Satonaka
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Toyota Motor Corp
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Toyota Motor Corp
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    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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Definitions

  • This invention generally relates to a target position setting device for setting a target position of a vehicle and a parking assistance device having the target setting device.
  • Document 1 Japanese Patent Application Publication No. 2004-108944 discloses an obstacle detection device that detects an obstacle such as a vehicle or a sidewall with use of a distance meter using ultra sonic.
  • the obstacle detection device can detect a position of an obstacle according to a distance to the obstacle detected by the distance meter using ultra sonic.
  • the obstacle detection device can detect a parking position of a vehicle.
  • Document 2 Japanese Patent Application Publication No. 11-105686 (hereinafter referred to as Document 2) discloses an automatic parking device that sets a stopping position of a vehicle according to a white line recognized by an imager.
  • the automatic parking device can determine a parking position in a parking area where an obstacle is not provided, and can move a vehicle automatically.
  • the distance meter of Document 1 has an accuracy problem of object recognition, although the distance meter can recognize an object from a relatively far point.
  • the distance meter cannot detect the parking position accurately when the vehicle detected by the distance meter is inclined.
  • the imager of Document 2 is affected by a recognition error caused by a step or a slope in a case where the imager takes an image of the white line from a far point, although the imager can set an accurate parking position according to the white line. That is, the recognition accuracy changes largely with a movement of a vehicle, and it is difficult to detect a timing of determining of the parking position.
  • the present invention provides a target position setting device and a parking assistance device having the target position setting device that can set an accurate target position at an adequate time.
  • a target position setting device includes a distance meter, an imager, a first calculating portion, a second calculating portion, a determination portion and a setting portion.
  • the distance meter measures a distance to an object around a vehicle.
  • the imager takes an image of environment around the vehicle.
  • the first calculating portion calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter.
  • the second calculating portion calculates a second candidate of the target position of the vehicle according to an imaging result of the imager.
  • the determination portion determines whether a relationship between the first candidate of the target position and the second candidate of the target position meets a given condition.
  • the setting portion sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition.
  • the distance to the object around the vehicle is measured by the distance meter.
  • the environment around the vehicle is taken by the imager.
  • the first candidate of the target position is calculated according to the measuring result of the distance meter by the first calculating portion.
  • the second candidate of the target position is calculated according to the imaging result of the imager by the second calculating portion.
  • the target position is set according to the second candidate of the target position, when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition.
  • the target position setting device may includes a provisional setting portion.
  • the provisional setting portion may set the target position according to the first candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position does not meet the given condition.
  • the setting portion may set the target position again according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition after the provisional setting portion sets the target position according to the first candidate of the target position.
  • the target position is set by the provisional setting portion, even if the relationship between the first candidate of the target position and the second candidate of the target position does not meet the condition.
  • a first target position is therefore set at an early time. And it is possible to set a final target position accurately.
  • the setting portion may change the target position gradually from the first candidate of the target position to the second candidate of the target position.
  • the given condition may mean a case where a distance between the first candidate of the target position and the second candidate of the target position is smaller than a given value for more than a given time. In this case, it is possible to set the accurate target position after the imaging result of the imager is reliable.
  • a parking assistance device includes a target position setting device and a steering assistance portion.
  • the target position setting device is of any of claims 1 to 4 .
  • the steering assistance portion starts a steering assistance by an automatic steering when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition.
  • the distance to the object around the vehicle is measured by the distance meter.
  • the environment around the vehicle is taken by the imager.
  • the first candidate of the target position is calculated according to the measuring result of the distance meter by the first calculating portion.
  • the second candidate of the target position is calculated according to the imaging result of the imager by the second calculating portion.
  • the target position is set according to the second candidate of the target position and the steering assistance is started by the steering assistance portion, when the determination portion determines that the relationship between the first candidate of the target position and the second candidate of the target position meets the given condition.
  • the parking assistance device may include a selection portion that determines whether the steering assistance by the steering assistance portion is to be processed. In this case, it is possible to prevent the automatic steering undesired for the driver.
  • the parking assistance device may include an information portion that informs the starting of the steering assistance to a driver when the steering assistance portion starts the steering assistance. In this case, it is possible to prevent the automatic steering undesired for the driver.
  • FIG. 1 illustrates a block diagram of an overall configuration of a parking assistance device in accordance with a first embodiment
  • FIG. 2 illustrates an aspect when a vehicle is parked at a parking position
  • FIG. 3 illustrates a first candidate Xs of a target position calculated according to a measuring result of a distance meter shown in FIG. 1 ;
  • FIG. 4 illustrates a second candidate Xc of a target position calculated according to an image taken by an imager
  • FIG. 5 illustrates a relationship between a first candidate Xs of a target position and a second candidate Xc of a target position
  • FIG. 6 illustrates a flowchart of an exemplary control sequence of a controller in a case where the controller controls a parking assistance device
  • FIG. 7 illustrates a flowchart of an exemplary control sequence of a controller in a case where the controller controls a parking assistance device
  • FIG. 8A and FIG. 8B illustrate an aspect when an imager counts an edge point of a white line.
  • FIG. 1 illustrates a block diagram of an overall configuration of a parking assistance device 100 in accordance with a first embodiment.
  • the parking assistance device 100 has a target position sensor portion 10 , a monitor display 20 , a vehicle state sensor portion 30 , an automatic steering portion 40 , and a controller 50 .
  • the controller 50 has a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM) and so on.
  • the controller 50 has a target position calculating portion 51 and a parking assistance controller 52 .
  • the target position calculating portion 51 calculates a target position X of a vehicle (for example, center position of a rear wheel shaft of the vehicle at a stopping position).
  • the parking assistance controller 52 controls a parking assistance by an automatic steering of the vehicle. The details are given later.
  • the target position sensor portion 10 and the target position calculating portion 51 corresponds to a target position setting device.
  • the target position sensor portion 10 has an imager 11 and a distance meter 12 .
  • the imager 11 has a charge coupled device (CCD) camera that takes an image of scenery within a given angle range backward of the vehicle.
  • the imager 11 converts the image of the scenery into an image signal and gives the image signal to the target position calculating portion 51 of the controller 50 .
  • the distance meter 12 has an ultra sonic sonar, a radar and so on.
  • the distance meter 12 measures a distance to a target object and gives the measured distance to the target position calculating portion 51 .
  • the monitor display 20 displays information for assisting a driving of a driver. For example, the monitor display 20 displays an image taken by the imager 11 .
  • the vehicle state sensor portion 30 has a vehicle speed sensor 31 , a steering angle sensor 32 , a yaw rate sensor 33 , a shift position sensor 34 , a parking switch 35 and a handle sensor 36 .
  • the vehicle speed sensor 31 is provided at each wheel of the vehicle.
  • the vehicle speed sensor 31 detects a wheel speed and gives the detected speed to the parking assistance controller 52 of the controller 50 .
  • the steering angle sensor 32 detects a steering angle of a handle (not shown in FIG. 1 ) and gives the detected angle to the parking assistance controller 52 .
  • the yaw rate sensor 33 detects a yaw rate of the vehicle and gives the detected rate to the parking assistance controller 52 .
  • the shift position sensor 34 detects a position of a shift lever and gives the detected position to the parking assistance controller 52 .
  • the parking switch 35 determines whether the parking assistance by the automatic steering is processed or not.
  • the parking switch 35 is provided in a vehicle compartment. A driver can operate the parking switch 35 .
  • the handle sensor 36 detects whether the handle is operated or not and gives the detected result to the parking assistance controller 52 .
  • the automatic steering portion 40 has an automatic steering device 41 , an automatic braking device 42 and an automatic driving device 43 .
  • the automatic steering device 41 receives an instruction from the parking assistance controller 52 and controls the wheels so that the center position of the rear wheel shaft of the vehicle moves toward the target position X automatically.
  • the automatic braking device 42 receives an instruction from the parking assistance controller 52 and brakes the vehicle so that the center position of the rear wheel shaft stops at the target position X.
  • the automatic driving device 43 receives an instruction from the parking assistance controller 52 and drives the vehicle.
  • the target position calculating portion 51 calculates a first candidate Xs of the target position according to the distance measured by the distance meter 12 and calculates a second candidate Xc of the target position according to the image signal from the imager 11 .
  • the target position X, the first candidate Xs of the target position and the second candidate Xc of the target position indicate a position where the center of the rear wheel shaft of the vehicle stops.
  • the target position calculating portion 51 calculates the target position X of the vehicle according to the image signal from the imager 11 and the distance measured by the distance meter 12 .
  • the parking assistance controller 52 controls the automatic steering portion 40 so that the center position of the rear wheel shaft of the vehicle stops at the target position X, when the parking switch 35 is on and the shift position sensor 34 detects that the shift lever is positioned at a reverse position.
  • the parking assistance controller 52 controls the monitor display 20 so as to display information asking a driver if the automatic steering is to be processed or not, before starting the automatic steering. After that, the parking assistance controller 52 starts the automatic steering, when the handle sensor 36 detects that the driver does not operate the handle. It is therefore possible to prevent the automatic steering undesired for the driver.
  • FIG. 2 illustrates an aspect when a vehicle 200 is parked at a parking position.
  • the parking assistance device 100 shown in FIG. 1 is provided in the vehicle 200 .
  • a description is given of a case where other vehicles are parked at both sides of a parking area.
  • a white line is painted at each side of the parking area.
  • One vehicle parked at closer to the starting position of the vehicle 200 is a vehicle 201 , and the other is a vehicle 202 .
  • the vehicle 200 passes the vehicle 201 (a first operation).
  • the vehicle 201 is positioned at left side of the vehicle 200 .
  • the vehicle 200 passes the parking area where the vehicles 201 and 202 are not parked.
  • the vehicle 200 curves rightward when passing the vehicle 202 (a second operation), and stops (a third operation).
  • the vehicle 200 goes back toward the parking area (a fourth operation), and stops at a stopping position of the parking area (a fifth operation).
  • the vehicle 200 is parked through the operations.
  • the center position of the rear wheel shaft of the vehicle 200 in a case where the vehicle 200 is parked is referred to as a parking position.
  • a description will be given of an operation of the parking assistance device 100 until the center position of the rear wheel shaft of the vehicle reaches the parking position with the first operations through the fifth operation.
  • FIG. 3 illustrates the first candidate Xs of the target position calculated according to the measuring result of the distance meter 12 shown in FIG. 1 .
  • the distance meter 12 is provided at each side face of the vehicle 200 .
  • the distance meter 12 measures a distance from the vehicle 200 to an obstacle such as other vehicles.
  • the distance meter 12 can measure a distance to the obstacle positioned away from the vehicle by a few meters.
  • a sampling period of the distance meter 12 is, for example, 50 msec.
  • the distance meter 12 measures a distance to the vehicle 201 in the first operation.
  • the distance meter 12 measures a distance to the end of the parking area and measures a distance to the vehicle 202 in the second operation.
  • the target position calculating portion 51 calculates the first candidate Xs of the target position with a distance to a corner on the parking area side and the vehicle 200 side of the vehicle 201 (hereinafter referred to a corner 201 a ), with a distance to a corner on the parking area side and the vehicle 200 side of the vehicle 202 (hereinafter referred to a corner 202 a ) and with the distance to the end of the parking area.
  • FIG. 3 illustrates a case where the first candidate Xs of the target position does not correspond to the parking position because of the shape of the corners 201 a and 202 a .
  • the first candidate Xs of the target position is constant after calculated.
  • FIG. 4 illustrates the second candidate Xc of the target position calculated according to the image taken by the imager 11 .
  • the imager 11 is provided at back end of the vehicle 200 .
  • the imager 11 takes an image of an obstacle backward of the vehicle 200 .
  • the imager 11 takes an image of the white line.
  • a sampling period of the imager 11 is, for example, 100 msec.
  • the imager 11 takes the image of the white line in the third operation through the fifth operation.
  • the target position calculating portion 51 calculates the second candidate Xc of the target position according to the imaging result of the imager 11 .
  • the second candidate Xc of the target position is corrected by the target position calculating portion 51 at every sampling of the imager 11 .
  • the second candidate Xc of the target position changes as the vehicle 200 moves.
  • the measuring accuracy of the distance meter 12 is generally superior to imaging accuracy of the imager 11 in a case where a distance to an object is large.
  • the imaging accuracy of the imager 11 is superior to the measuring accuracy of the distance meter 12 in a case where the distance to the object is small.
  • FIG. 5 illustrates a relationship between the first candidate Xs of the target position and the second candidate Xc of the target position.
  • a direct distance between the first candidate Xs of the target position and the second candidate Xc of the target position is hereinafter referred to as ⁇ L.
  • the position error between the second candidate Xc of the target position and the parking position is larger than that between the first candidate Xc of the target position and the parking position, because the imaging accuracy of the imager 11 is inferior to the measuring accuracy of the distance meter 12 in a case where a distance between the vehicle 200 and the parking position is large. Accordingly, the ⁇ L is large.
  • the target position calculating portion 51 adopts the first candidate Xs of the target position as the target position X.
  • the parking assistance controller 52 controls the automatic steering device 41 , the automatic braking device 42 and the automatic driving device 43 so that the center position of the rear wheel shaft of the vehicle 200 moves toward the first candidate Xs of the target position.
  • the target position calculating portion 51 adopts the first candidate Xs of the target position as the target position X, when the position error between the second candidate Xc of the target position and the parking position is larger than that between the first candidate Xs of the target position and the parking position.
  • the parking assistance controller 52 controls the automatic steering device 41 , the automatic braking device 42 and the automatic driving device 43 so that the center position of the rear wheel shaft of the vehicle 200 moves toward the first candidate Xs of the target position.
  • the distance between the imager 11 and the white line is further reduced when the center position of the rear wheel shaft of the vehicle 200 further approaches the parking position. Accordingly, the position error between the second candidate Xc of the target position and the parking position gets smaller than that between the first candidate Xs of the target position and the parking position.
  • the ⁇ L in the case is set to be 30 cm.
  • the target position calculating portion 51 adopts the second candidate Xc of the target position as the target position X after the ⁇ L gets smaller than 30 cm.
  • it is determined that the ⁇ L is smaller than 30 cm if the ⁇ L is smaller than 30 cm for a given time (for example, for a few seconds or for a few sampling period). It is therefore possible to prevent that the second candidate Xc of the target position is adopted as the target position X when the ⁇ L happens to be smaller than 30 cm in a case where a detecting accuracy of the second candidate Xc of the target position is insufficient.
  • the parking assistance controller 52 controls the automatic steering device 41 , the automatic braking device 42 and the automatic driving device 43 so that the center position of the rear wheel shaft of the vehicle 200 moves toward the second candidate Xc of the target position.
  • the target position calculating portion 51 adopts the second candidate Xc of the target position as the target position X until the center position of the rear wheel shaft of the vehicle 200 stops at the target position X.
  • FIG. 6 illustrates a flowchart of an exemplary control sequence of the controller 50 in the case where the controller 50 controls the parking assistance device 100 .
  • the target position calculating portion 51 calculates the ⁇ L shown in FIG. 5 (step S 1 ).
  • the ⁇ L is calculated with the imaging result of the imager 11 and the measuring result of the distance meter 12 .
  • the target position calculating portion 51 determines whether the ⁇ L is less than a given value (for example, 30 cm) (step S 2 ). When it is determined that the ⁇ L is less than the given value in step S 2 , the target position calculating portion 51 adopts the second candidate Xc as the target position X (step S 3 ). When it is not determined that the ⁇ L is less than the given value in step S 2 , the target position calculating portion 51 adopts the first candidate Xs as the target position X (step S 6 ).
  • a given value for example, 30 cm
  • the parking assistance controller 52 controls the automatic steering device 41 , the automatic braking device 42 and the automatic driving device 43 so that the center position of the rear wheel shaft of the vehicle 200 moves toward the target position X (step S 4 ).
  • the parking assistance controller 52 determines whether the center position of the rear wheel shaft of the vehicle 200 reaches the target position X (step S 5 ). When it is determined that the center position of the rear wheel shaft of the vehicle 200 reaches the target position X in step S 5 , the parking assistance controller 52 stops the automatic steering.
  • the controller 50 stops the control of the parking assistance device 100 .
  • the controller 50 starts the sequence over from step S 1 .
  • the target position X is set according to the measuring result of the distance meter 12 until the imaging accuracy of the imager 11 surpasses the measuring accuracy of the distance meter 12 . And the target position X is set according to the imaging result of the imager 11 after the imaging accuracy of the imager 11 is superior to the measuring accuracy of the distance meter 12 . Therefore, the parking assistance device 100 in accordance with the embodiment can set the accurate target position at an adequate time.
  • the ⁇ L is not limited, although the ⁇ L is set to be 30 cm in the embodiment.
  • the ⁇ L may be changeable according to the imaging accuracy of the imager 11 and the measuring accuracy of the distance meter 12 .
  • the target position calculating portion 51 may determine whether the ⁇ L is less than a given value for a given time (for example, for a few seconds or for a few sampling periods) in step S 2 shown in FIG. 6 , although the target position calculating portion 51 determines whether the ⁇ L is less than a given value.
  • the target position X may be calculated in other way, although the target position X is calculated with the first candidate Xs of the target position and the second candidate Xc of the target position in the embodiment.
  • the second candidate Xc of the target position may be adopted as the target position X in a case where a difference between an inclination of a center line of the vehicle 200 passing through the first candidate Xs of the target position and that passing through the second candidate Xc of the target position gets smaller than a given value.
  • the target position calculating portion 51 corresponds to the first calculating portion, the second calculating portion, the determination portion, the setting portion and the provisional setting portion.
  • the parking assistance controller 52 corresponds to the steering assistance portion.
  • the parking switch 35 corresponds to the selection portion.
  • the monitor display 20 corresponds to the information portion.
  • the white line in the parking area corresponds to the environment around the vehicle.
  • Step S 2 corresponds to the function of the determination portion.
  • Step S 6 corresponds to the function of the provisional setting portion.
  • Step S 3 corresponds to the function of the setting portion.
  • the parking assistance device 100 a has the same structure as the parking assistance device 100 in FIG. 1 .
  • the parking assistance device 100 a is different from the parking assistance device 100 in the calculating method by the target position calculating portion 51 .
  • a drawing and an explanation of overall structure of the parking assistance device 100 a is omitted, because the parking assistance device 100 a has the same structure.
  • a description will be given of a calculating method by the target position calculating portion 51 with reference to FIG. 1 .
  • the target position calculating portion 51 in accordance with the second embodiment shifts the target position X from the first candidate Xs of the target position to the second candidate Xc of the target position, when the ⁇ L is smaller than a given value (for example, 30 cm).
  • a given value for example, 30 cm.
  • a distance between the center position of the rear wheel shaft of the vehicle 200 and the target position X in a case where the ⁇ L is smaller than the given value is hereinafter referred to as a distance Dmax.
  • a distance between the center position of the rear wheel shaft of the vehicle 200 and the target position X during the movement of the vehicle 200 is hereinafter referred to as a distance d.
  • the target position calculating portion 51 adopts a weighted average between the first candidate Xs of the target position and the second candidate Xc of the target position.
  • the target position X in this case is shown as following Expression 1.
  • X Xs ⁇ d/D max+ Xc ⁇ (1 ⁇ d/D max) (Expression 1)
  • the ratio of the first candidate Xs of the target position is higher than that of the second candidate Xs of the target position, when the distance between the center position of the rear wheel shaft of the vehicle 200 and the target position X is large.
  • the ratio of the second candidate Xc of the target position gets higher as the distance between the center position of the rear wheel shaft of the vehicle 200 and the target position X gets smaller.
  • the imaging result of the imager 11 gets reflected, as the imaging accuracy of the imager 11 gets higher. Accordingly, the target position X is determined. It is therefore prevented that the target position X is changed rapidly.
  • the distance Lmax and the distance 1 are detected by the distance meter 12 , the vehicle speed sensor 31 , the steering angle sensor 32 , and the yaw rate sensor 33 .
  • FIG. 7 illustrates a flowchart of an exemplary control sequence of the controller 50 in the case where the controller 50 controls the parking assistance device 100 a .
  • the target position calculating portion 51 calculates the ⁇ L shown in FIG. 5 (step S 11 ).
  • the target position calculating portion 51 determines whether the ⁇ L is less than a given value (for example, 30 cm) (step S 12 ).
  • the target position calculating portion 51 adopts the weighted average between the first candidate Xs of the target position and the second candidate Xc of the target position as the target position X (step S 13 ). In this case, the target position calculating portion 51 calculates the target position X with Expression 1. When it is not determined that the ⁇ L is less than the given value in step S 12 , the target position calculating portion 51 adopts the first candidate Xs of the target position as the target position X (step S 16 ).
  • the parking assistance controller 52 controls the automatic steering device 41 , the automatic braking device 42 and the automatic driving device 43 so that the center position of the rear wheel shaft of the vehicle 200 moves toward the target position X (step S 14 ).
  • the parking assistance controller 52 determines whether the center position of the rear wheel of the vehicle 200 reaches the target position X (step S 15 ).
  • the parking assistance controller 52 stops the automatic steering.
  • the controller 50 stops the control of the parking assistance device 100 a .
  • the controller 50 starts the sequence over from step S 11 .
  • the target position X is set according to the measuring result of the distance meter 12 until the imaging accuracy of the imager 11 surpasses the measuring accuracy of the distance meter 12 . And the target position X is set according to the imaging result of the imager 11 and the measuring result of the distance meter 12 after the imaging accuracy of the imager 11 is superior to the measuring accuracy of the distance meter 12 . Therefore, the parking assistance device 100 a in accordance with the embodiment can set the accurate target position at an adequate time. And the rapid changing of the target position X is prevented.
  • the target position calculating portion 51 may determine whether the ⁇ L is less than a given value for a given time (for example, for a few seconds or for a few sampling periods) in step S 12 shown in FIG. 7 , although the target position calculating portion 51 determines whether the ⁇ L is less than a given value.
  • the target position X may be changed from the first candidate Xs of the target position to the second candidate Xc of the target position in steps, although the target position X is changed continuously from the first candidate Xs of the target position to the second candidate Xc of the target position in accordance with Expression 1 in the embodiment.
  • the target position X corresponds to the second candidate Xc of the target position when the distance d corresponds to the distance Dmax.
  • the target position X may correspond to the second candidate Xc of the target position in a case where the distance d has an offset and the distance d is smaller than the distance Dmax.
  • Expression 2 and Expression 3 may be used instead of Expression 1.
  • the distance d′ is a value in which the offset value ⁇ (>0) is added to the distance d.
  • the maximum of the distance d′ is the distance Dmax.
  • the target position calculating portion 51 adopts the second candidate Xc of the target position as the target position X after the distance d′ corresponds to the distance Dmax in a case where Expression 2 and Expression 3 are used.
  • X Xs ⁇ d′/D max+ Xc ⁇ (1 ⁇ d′/D max) (Expression 2)
  • D max ⁇ d′ d+ ⁇ (Expression 3)
  • the parking assistance device 100 b has the same structure as the parking assistance device 100 in FIG. 1 .
  • the parking assistance device 100 b is different from the parking assistance device 100 in the calculating method by the target position calculating portion 51 .
  • a drawing and an explanation of overall structure of the parking assistance device 100 b is omitted, because the parking assistance device 100 b has the same structure.
  • a description will be given of a calculating method by the target position calculating portion 51 with reference to FIG. 1 .
  • the parking assistance controller 52 has a timer function.
  • the target position calculating portion 51 in the third embodiment shifts the target position X from the first candidate Xs of the target position to the second candidate Xc of the target position gradually, when the ⁇ L is smaller than a given value (for example, 30 cm).
  • a given value for example, 30 cm.
  • a predicted time is hereinafter referred to as a time Smax.
  • the predicted time is from a point when the ⁇ L is smaller than the given value to a point when the center position of the rear wheel shaft of the vehicle 200 will reach the target position X.
  • an elapsed time from the point when the ⁇ L is smaller than the given value is hereinafter referred to as a time S.
  • the time S increases during the automatic steering.
  • the target position calculating portion 51 adopts a weighted average between the first candidate Xs of the target position and the second candidate Xc of the target position as the target position X.
  • the target position X in this case is shown in following Expression 4.
  • X Xs (1 ⁇ S/S max)+ Xc ⁇ S/S max (Expression 4)
  • the ratio of the first candidate Xs of the target position is higher than that of the second candidate Xc of the target position, when the distance between the center position of the rear wheel of the vehicle 200 and the target position X is large.
  • the ratio of the second candidate Xc of the target position gets higher as the distance between the center position of the rear wheel shaft of the vehicle 200 and the target position X gets smaller.
  • the imaging result of the imager 11 gets reflected, as the imaging accuracy of the imager 11 gets higher. Accordingly, the target position X is determined. It is therefore prevented that the target position X is changed rapidly.
  • the time Smax is calculated with the distance Lmax shown in the second embodiment, a steering angle of the vehicle 200 detected by the steering angle sensor 32 , and a vehicle speed during the automatic steering of the vehicle 200 .
  • the time S is calculated with use of the timer function of the parking assistance controller 52 .
  • a flowchart in the case where the controller 50 controls the parking assistance device 100 b is different from that of FIG. 7 in a point where Expression 4 is used in step S 13 in FIG. 7 .
  • the target position X is set according to the measuring result of the distance meter 12 until the imaging accuracy of the imager 11 surpasses the measuring accuracy of the distance meter 12 .
  • the target position X is set according to the imaging result of the imager 11 and the measuring result of the distance meter 12 after the imaging accuracy of the imager 11 is superior to the measuring accuracy of the distance meter 12 . Therefore, the parking assistance device 100 b in accordance with the embodiment can set the accurate target position at an adequate time. And the rapid changing of the target position X is prevented.
  • the target position calculating portion 51 may determine whether the ⁇ L is less than a given value for a given time (for example, for a few seconds or for a few sampling periods) in step S 12 shown in FIG. 7 , although the target position calculating portion 51 determines whether the ⁇ L is less than a given value. It is preferred that the counting of the time S by the parking assistance controller 52 is stopped when the vehicle 200 stops on the way during the automatic steering. It is because that the distance decrement between the center position of the rear wheel shaft of the vehicle 200 and the target position X is stopped.
  • the target position X may be changed from the first candidate Xs of the target position to the second candidate Xc of the target position in steps, although the target position X is changed continuously from the first candidate Xs of the target position to the second candidate Xc of the target position in accordance with Expression 4 in the embodiment.
  • the target position X corresponds to the second candidate Xc of the target position when the time S corresponds to the time Smax.
  • the target position X may correspond to the second candidate Xc of the target position in a case where the time S has an offset and the time S is smaller than the time Smax.
  • Expression 5 and Expression 6 may be used instead of Expression 4.
  • the time S′ is a value in which the offset value ⁇ (>0) is added to the time S.
  • the maximum of the time S′ is the time Smax.
  • the target position calculating portion 51 adopts the second candidate Xc of the target position as the target position X after the time S′ corresponds to the time Smax in a case where Expression 5 and Expression 6 are used.
  • X Xs ⁇ (1 ⁇ S′/S max)+ Xc ⁇ S′/S max (Expression 5)
  • S max ⁇ S′ S+ ⁇ (Expression 6)
  • the parking assistance device 100 c has the same structure as the parking assistance device 100 in FIG. 1 .
  • the parking assistance device 100 c is different from the parking assistance device 100 in the calculating method by the target position calculating portion 51 .
  • a drawing and an explanation of overall structure of the parking assistance device 100 c is omitted, because the parking assistance device 100 c has the same structure.
  • a description will be given of a calculating method by the target position calculating portion 51 with reference to FIG. 1 .
  • the target position calculating portion 51 in the third embodiment shifts the target position X from the first candidate Xs of the target position to the second candidate Xc of the target position gradually, when the ⁇ L is smaller than a given value (for example, 30 cm).
  • a given value for example, 30 cm.
  • FIG. 8A and FIG. 8B illustrate an aspect when the imager 11 counts an edge point of the white line.
  • FIG. 8A illustrates a relationship between the vehicle 200 and the white line.
  • FIG. 8B illustrates a screen of the monitor display 20 where an image taken by the imager 11 is displayed.
  • a point P 1 is one of two dots connecting both ends of one of the white lines of the parking area.
  • a point P 2 is the other.
  • the point P 1 and the point P 2 are displayed on the monitor display 20 according to the imaging result of the imager 11 .
  • Brightness edges are detected on the line from the point P 1 to the point P 2 in a case where a CCD camera is used as the imager 11 .
  • the number of the brightness edges is referred to as a number N.
  • the maximum of the number N is referred to as Nmax.
  • the minimum of the number N is referred to as Nmin.
  • the X-Y coordinates of the points P 1 and P 2 according to the resolution of the imager 11 are shown as (X 1 , Y 1 ) and (X 2 , Y 2 ) respectively.
  • the Nmax is
  • the number N increases, as the imaging accuracy of the imager 11 gets higher.
  • Reliability R of the imager 11 is therefore shown as Expression 7.
  • R N /(
  • the target position calculating portion 51 adopts a weighted average between the first candidate Xs of the target position and the second candidate Xc of the target position as the target position X.
  • the target position X in this case is shown in Expression 8.
  • X Xs ⁇ (1 ⁇ R )+ Xc ⁇ R (Expression 8)
  • the imaging result of the imager 11 gets reflected, as the imaging accuracy of the imager 11 gets higher. Accordingly, the target position X is determined. And the rapid changing of the target position X is prevented.
  • the reliability R may have an offset similarly to the second and the third embodiments. The reliability R means a ratio of the second candidate Xc of the target position in Expression 8.
  • a flowchart in the case where the controller 50 controls the parking assistance device 100 c is different from that of FIG. 7 in a point where Expression 8 is used in step S 13 in FIG. 7 .
  • the target position X is set according to the measuring result of the distance meter 12 until the imaging accuracy of the imager 11 surpasses the measuring accuracy of the distance meter 12 .
  • the target position X is set according to the imaging result of the imager 11 and the measuring result of the distance meter 12 after the imaging accuracy of the imager 11 is superior to the measuring accuracy of the distance meter 12 . Therefore, the parking assistance device 100 c in accordance with the embodiment can set the accurate target position at an adequate time. And the rapid changing of the target position X is prevented.
  • the target position calculating portion 51 may determine whether the ⁇ L is less than a given value for a given time (for example, for a few seconds or for a few sampling periods) in step S 12 shown in FIG. 7 , although the target position calculating portion 51 determines whether the ⁇ L is less than a given value.
  • the target position X may be changed from the first candidate Xs of the target position to the second candidate Xc of the target position in steps, although the target position X is changed continuously from the first candidate Xs of the target position to the second candidate Xc of the target position in accordance with Expression 8 in the embodiment.
  • the target position X may be calculated in other way, although the target position X is calculated with the first candidate Xs of the target position and the second candidate Xc of the target position in second embodiment through the fourth embodiment.
  • the weighted average between the first candidate Xs of the target position and the second candidate Xc of the target position may be adopted as the target position X in a case where a difference between an inclination of a center line of the vehicle 200 passing through the first candidate Xs of the target position and that passing through the second candidate Xc of the target position gets smaller than a given value.
  • step S 12 in FIG. 7 corresponds to the function of the determination portion.
  • Step S 16 corresponds to the function of the provisional setting portion.
  • Step S 13 corresponds to the function of the setting portion.
  • the second candidate Xc of the target position may be calculated according to a concrete block provided in the parking area, although the second candidate Xc of the target position is calculated according to the white line of the parking area in the first embodiment through the fourth embodiment.
  • the target position may be set according to the first candidate Xs of the target position only, before the relationship between the first candidate Xs of the target position and the second candidate Xc of the target position meets a given condition. That is, the target position X may be set according to the first candidate Xs of the target position, when it is determined that the relationship between the first candidate Xs of the target position and the second candidate Xc of the target position does not meet a given condition before the target position X is set according to the second candidate Xc of the target position.
  • the target position X may be set according to the second candidate Xc of the target position, when it is determined that the relationship between the first candidate Xs of the target position and the second candidate Xc of the target position meets the given condition after the target position X is set according to the first candidate Xs of the target position.

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US20100019935A1 (en) * 2007-02-27 2010-01-28 Yukiko Kawabata Parking assistance device
US20110087406A1 (en) * 2008-06-11 2011-04-14 Valeo Schalter Und Sensoren Gmbh Method for assisting a driver of a vehicle when parking in a parking space
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JP4020128B2 (ja) 2007-12-12
EP1873013B1 (en) 2013-03-20
EP1873013A1 (en) 2008-01-02
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WO2006115139A1 (ja) 2006-11-02
CN101044048A (zh) 2007-09-26

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